Research On Vehicle Formation And Track Following Control Based On V2X Communication

With the growth of car ownership,the number of traffic accidents is also increasing year by year,and road congestion is becoming more and more serious.The development of autonomous driving technology can gradually solve problems in the driving of traditional vehicles.However,this technology isn't advanced enough to meet people's requirements for traffic safety.For example,the acquisition of status information between multiple autonomous vehicles is an important issue to be solved.The development of autonomous driving technology based on V2 X communication has become an inevitable trend.Therefore,this paper takes multi-vehicle cooperative formation as its research object,and conducts a multi-vehicle cooperative control research based on V2 X communication.The specific research contents are as follows:(1)The first vehicle in the fleet is a man-driven car,and the following vehicles adopt the V2 X in-vehicle communication device to achieve status information acquisition among multiple vehicles for decision-making,in order to maintain a certain distance and speed within the formation.In terms of multi-vehicle cooperative formation control,the path tracking lateral control algorithm uses a Linear Quadratic Controller(LQR)based on the vehicle dynamics model,while the longitudinal control algorithm uses a classic PID controller.Results based on the simulation platform verify that the multi-vehicle cooperative formation algorithm can enable multiple vehicles to complete the multi-vehicle lane-changing and form a line with maintained distance and speed.(2)At the same time,this thesis takes into consideration the CAN communication delay between the onboard controller and the vehicle's bottom actuator.Aiming at situations of singlecar communication delay,this thesis designs a Model Predictive Controller(MPC)with delay compensation.Based on the built simulation experiment platform to verify the communication delay compensation control algorithm,the communication delay compensation control algorithm enables vehicles with artificial join delay to better complete the formation task and achieve stable horizontal and vertical control,thus verifying the feasibility of the algorithm proposed in this thesis.